C program to control stepper motor.

/*
FILE: STEPPER.C
DESC: Speed and Positioning options for Stepper Motor
Port A has 5 lines attached and described as follows:

OP = PHASE Line A.0 1 enable / 0 disable
HS = HALF STEP Line A.1 2 enable / 0 disable
SI = STEP INPUT Line A.2 4 enable / 0 disable
DR = DIRECTION Line A.3 8 enable / 0 disable
OE : OUTPUT ENABLE Line A.4 16 enable / 0 disable
*/
#include stdio.h>
#include stdlib.h>
#include dos.h> /* outportb, inportb defined here */
#include /* formatted text functions defined here */
int Calibrate(int);
void StepTheMotor(int, int, int);
void Selection(int, int, int);
void MoveToFixedAngle(int, int, int);
void Continuous(int, int, int);
void main(void) {
int Sgnal;
int BASEADDR;
int PORTA, PORTB, PORTC;
int CNTRL;
int Choice;
int StepsPerRev;
int DR = 0;
clrscr(); /* clear screen */
window(5,5,75,30); /* set up text window */
gotoxy(1,1);
cprintf("Enter Base Address (decimal) e.g. 608\n");
gotoxy(1,2); scanf("%d", &BASEADDR);
PORTA = BASEADDR;
PORTB = BASEADDR + 1;
PORTC = BASEADDR + 2;
CNTRL = BASEADDR + 3;
outportb(CNTRL, 128); /* configure all ports for output */
outportb(PORTB, 0); /* Ports B and C not used, so just set to 0 */
outportb(PORTC, 0);
StepsPerRev = Calibrate(PORTA);
Selection(PORTA, StepsPerRev, DR);
} /* end of main */
int Calibrate(int PORTA) {
int GetKey;
int StepsPerRev;
int DR = 0;
int WaitSomeTime = 0;
/* determine how many steps per revolution stepper motor */
gotoxy(1,5); cprintf("--CALIBRATION--\n");
gotoxy(1,7); cprintf("Hit the key to step the motor.\n");
gotoxy(1,9); cprintf("Count the number of times you hit \n");
gotoxy(1,10); cprintf("for motor to rotate 1 revolution\n");
gotoxy(1,12); cprintf("Hit q then to quit\n");
do {
StepTheMotor(PORTA, DR, WaitSomeTime);
gotoxy(1,14); GetKey = getch();
} while (GetKey != 113 && GetKey != 81); /* 113 is ASCII q */
gotoxy(1,16); cprintf("Number of times did you hit => \n");
gotoxy(40,16); scanf("%d", &StepsPerRev);
gotoxy(1,18); cprintf("Is %d Correct? (y)es, (n)o \n", StepsPerRev);
gotoxy(30,18); GetKey = getche();
if(GetKey == 121 || GetKey == 89) { /* 121 is y and 89 is Y in ASCII */
clrscr();
return(StepsPerRev);
} else {
clrscr();
Calibrate(PORTA);
};
}; /* end of Calibrate */
void Selection(int PORTA, int StepsPerRev, int DR) {
/* Motor speed and position options */
int DegPerStep;
int Choice;
clrscr();
gotoxy(1,4); cprintf("Motor requires %d steps per rev\n", StepsPerRev);
DegPerStep = (int)(360 / StepsPerRev);
gotoxy(40,4); cprintf(" => thus 1 step = %d degrees\n", DegPerStep);
do {
gotoxy(1,6); cprintf("(1) To rotate to a certain angle clockwise\n");
gotoxy(1,7); cprintf("(2) To rotate to a certain angle counter-clockwise\n");
gotoxy(1,8); cprintf("(3) To rotate continuously - with speed options\n");
gotoxy(1,9); cprintf("(4) To quit\n");
gotoxy(1,10); cprintf("Selection =>\n");
gotoxy(14,10); scanf("%d", &Choice);
switch(Choice) {
case 1 : DR = 0;
MoveToFixedAngle(PORTA, DR, DegPerStep);
break;
case 2 : DR = 8;
MoveToFixedAngle(PORTA, DR, DegPerStep);
break;
case 3 : Continuous(PORTA, DR, StepsPerRev);
break;
case 4 : outportb(PORTA, 16); /* shutdown all signals */
gotoxy(1,22); cprintf("Quitting\n");
exit(0);
default : gotoxy(1,14); cprintf("Choose 1, 2, 3, or 4\n");
break;
}; /* end select */
} while (1); /* can only exit Selection if user selects 4 */
}; /* end of Selection */
void MoveToFixedAngle(int PORTA, int DR, int DegPerStep) {
int Degrees;
int NumberOfSteps;
char *GetKey[2];
int WaitSomeTime = 0;
int i;
clrscr();
if(DR == 0) {
gotoxy(1,4); cprintf("Will step CW fixed number of degrees\n");
} else { /* DR is 8 */
gotoxy(1,4); cprintf("Will step CCW fixed number of degrees\n");
};
gotoxy(1,5); cprintf("Enter number of degrees => ");
gotoxy(28,5); scanf("%d", &Degrees);
gotoxy(1,7); cprintf("Will step %d degrees", Degrees);
gotoxy(1,8); cprintf("Hit a key to start");
while (!kbhit());
NumberOfSteps = (int)(Degrees / DegPerStep);
for(i = 1; i <= NumberOfSteps; i++) {
StepTheMotor(PORTA, DR, WaitSomeTime);
};
gotoxy(1,10); cprintf("Finished!");
gotoxy(1,11); cprintf("Hit a key then to do another angle");
gotoxy(42,11); cprintf("or q then to quit to main menu");
scanf("%s", &GetKey);
if(GetKey[0] == 'q' || GetKey[0] == 'Q') {
clrscr();
return;
} else {
MoveToFixedAngle(PORTA, DR, DegPerStep);
};
}; /* end of MoveToFixedAngle */
void Continuous(int PORTA, int DR, int StepsPerRev) {
int WaitSomeTime;
int TapKey;
int SpeedGrade;
int OE;
clrscr();
gotoxy(1,2); cprintf("Tap a key:");
gotoxy(1,3); cprintf("(f)aster");
gotoxy(1,4); cprintf("(s)lower");
gotoxy(1,5); cprintf("(r)everse");
gotoxy(1,6); cprintf("(q)quit to main menu");
gotoxy(1,7);
WaitSomeTime = 0;
SpeedGrade = 1;
do {
do {
StepTheMotor(PORTA, DR, WaitSomeTime);
} while(!kbhit());
TapKey = getch();
switch(TapKey) {
case 102 : /* hit f key */
WaitSomeTime = WaitSomeTime + 5;
if(WaitSomeTime >= 100) {
WaitSomeTime = 100;
gotoxy(1,10); cprintf("Can't go faster");
SpeedGrade = 20;
} else {
gotoxy(1,10); cprintf("Going faster...");
SpeedGrade = SpeedGrade + 1;
};
gotoxy(1,12); cprintf("speed grade = %2d", SpeedGrade);
StepTheMotor(PORTA, DR, WaitSomeTime);
break;
case 115 : /* hit s key */
WaitSomeTime = WaitSomeTime - 5;
if(WaitSomeTime <= 0) {
WaitSomeTime = 0;
gotoxy(1,10); cprintf("Won't go slower");
SpeedGrade = 0;
} else {
gotoxy(1,10); cprintf("Going slower...");
SpeedGrade = SpeedGrade - 1;
};
gotoxy(1,12); cprintf("speed grade = %2d", SpeedGrade);
StepTheMotor(PORTA, DR, WaitSomeTime);
break;
case 114 : /* hit the r key */
gotoxy(1,14); cprintf("Reversing direction");
delay(500);
gotoxy(1,14); cprintf(" ");
gotoxy(1,7);
if(DR == 0) {
DR = 8;
} else {
DR = 0;
};
StepTheMotor(PORTA, DR, WaitSomeTime);
break;
case 113 : /* hit the q key */
OE = 16;
outportb(PORTA, OE);
clrscr();
Selection(PORTA, StepsPerRev, DR);
break;
default : break;
};
} while (1);
}; /* end of Continuous */
void StepTheMotor(int PORTA, int DR, int WaitSomeTime) {
int i;
int SI = 4;
int OE = 0;
int FixedTime = 100; /* 100 msec */
outportb(PORTA, SI + DR + OE);
SI = 0;
OE = 0;
delay(FixedTime-WaitSomeTime); /* 100 msec */
outportb(PORTA, SI + DR + OE);
return;
}; /* --- end of StepTheMotor --- */